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Posted to dev@commons.apache.org by Gilles <gi...@harfang.homelinux.org> on 2018/12/01 11:56:34 UTC
[Numbers][Geometry] Where to define "quaternion" (Was: Making
Quaternion a VALJO)
Hello.
On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
> Hi guys,
>
> FYI, I've been working on a quaternion-related class named
> QuaternionRotation for commons-geometry (see link below). It includes
> slerp as well as several other geometry-oriented methods, such as
> conversion to/from axis-angle representations and creation from basis
> rotations. It's not quite ready for a merge yet since I still need to
> finish the Euler angle conversions.
>
> I did not use the Quaternion class from commons-numbers since I
> wanted to focus solely on using quaternions to represent 3D
> rotations.
> I felt like the commons-numbers class was too general for this.
We need to explore further how to avoid duplication.
Some questions:
* Should "QuaternionRotation" inherit from "Quaternion"?
* Should "Quaternion" be defined in [Geometry] (and removed from
[Numbers])?
* Are some utilities defined in "QuaternionRotation" general
such that they could be part of the [Numbers] "Quaternion" API.
An example might be the transformation between quaternion and
matrix (represented as a double[3][3])?
The second consideration could apply to any computation that does
not require types defined in [Geometry]. For example, interpolation
is a purely quaternion-internal operation.
It looks to me that it should be possible to come up with a design
that defines "rotation" in [Geometry] which uses a "quaternion"
defined in [Numbers].
Otherwise, one would wonder why "Complex" is also not in [Geometry]
(for 2D rotations).
Best regards,
Gilles
>
> Regards,
> Matt
>
>
>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>
> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>
>
> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
> development by creating an account on GitHub.
> github.com
>
>
>
>
> ________________________________
> From: Gilles <gi...@harfang.homelinux.org>
> Sent: Friday, November 30, 2018 9:37 AM
> To: dev@commons.apache.org
> Subject: Re: [numbers] Making Quaternion a VALJO
>
> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>> > and I have also emailed an ICLA.
>>
>>> Not received/acknowledged yet.
>>
>> I am now listed on the "Persons with signed CLAs but who are not
>> (yet)
>> committers." page.
>
> Welcome!
>
>>> > I think two convenience divide methods performing qr^{-1} and
>>> r^{-1}q
>>> > for q
>>> > and r would be useful, but I couldn't think of nice names for
>>> them.
>>
>>> What are the use-cases?
>>> Why aren't "multiply" and "inverse" enough?
>>
>> I must admit I'm new to quaternions and stumbled into the project
>> while
>> trying to improve my understanding so I'm not going to claim great
>> knowledge of how common these operations are. I was primarily
>> thinking of
>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that you
>> end up
>> creating inverse instances and throwing them away a lot and I
>> thought
>> it
>> would be good to reduce that overhead.
>
> Surely, the class "Quaternion" is minimal but, before adding to
> the API, we be careful to have use-cases for low-level operations.
> Those mentioned above seems more high-level, tied to a specific
> domain (see also "Commons Geometry", another new component not yet
> released) but I may be wrong...
>
> Regards,
> Gilles
>
>>
>> Steve
>
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Re: [Numbers] Inheritance and ValJO ? (Was: Where to define "quaternion"?)
Posted by Rob Tompkins <ch...@gmail.com>.
> On Dec 12, 2018, at 5:48 PM, Stephen Colebourne <sc...@joda.org> wrote:
>
> I think this has already been worked out, but the main reason for no
> inheritance is that is probably blocks future conversion to value types.
> Composition instead of inheritance is usually the right solution.
+1 to that.
>
> Stephen
>
>
>> On Sun, 9 Dec 2018 at 10:21, Gilles <gi...@harfang.homelinux.org> wrote:
>>
>> Hello.
>>
>> After the discussion quote below, the conclusion was to go with
>> inheritance:
>> https://issues.apache.org/jira/browse/NUMBERS-80
>>
>> However, it would make "Quaternion" fail the "ValJO" definition[1]
>> that mandates that all constructors be private.
>>
>> Would a protected constructor really be an issue?
>> [In the case of "Quaternion", the subclass constructor would only
>> perform additional validation (cf. below for details).]
>>
>>
>> Thanks,
>> Gilles
>>
>> [1] https://blog.joda.org/2014/03/valjos-value-java-objects.html
>>
>>> On Mon, 03 Dec 2018 10:31:42 +0100, Gilles wrote:
>>> Hi.
>>>
>>>> On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
>>>> I was just thinking from a practical standpoint. My current
>>>> QuaternionRotation class is still in my working branch for
>>>> GEOMETRY-14
>>>> and so isn't really accessible to anyone. If I can finish it up in
>>>> its
>>>> current state (hopefully very soon) and get it merged, then someone
>>>> else will be able to work with it and blend the functionality with
>>>> commons-numbers.
>>>
>>> Someone else?
>>>
>>>>
>>>> Here are some notes on your questions from before:
>>>>
>>>> * Should "QuaternionRotation" inherit from "Quaternion"?
>>>>
>>>> That would work conceptually. The quaternions in the
>>>> QuaternionRotation class are standard quaternions that meet two
>>>> other
>>>> criteria: 1) they are unit length, and 2) their scalar component is
>>>> greater than or equal to zero (in order to standardize the angles
>>>> involved).
>>>
>>> It seems indeed the perfect case for inheritance.
>>>
>>>> The one sticking point here is that I'm not sure how this
>>>> fits with the VALJO concept. If we can get this sorted, then this
>>>> very
>>>> well may be the best option.
>>>
>>> What do you see as a potential issue?
>>>
>>>>
>>>> * Should "Quaternion" be defined in [Geometry] (and removed from
>>>> [Numbers])?
>>>>
>>>> Perhaps. I've certainly only used them to represent 3D rotations.
>>>> Are
>>>> there any other use cases from commons-numbers?
>>>
>>> Not within [Numbers], but that's the point of those very low-level
>>> components/modules: they are common utilities used by higher-level
>>> components/libraries/applications.
>>>
>>> Given that "QuaternionRotation" is a special case of "Quaternion",
>>> it is logical to keep the latter at a lower-level, namely in
>>> [Numebers], and make [Geometry] depend on it.
>>>
>>>>
>>>> * Are some utilities defined in "QuaternionRotation" general
>>>> such that they could be part of the [Numbers] "Quaternion" API.
>>>> An example might be the transformation between quaternion and
>>>> matrix (represented as a double[3][3])?
>>>>
>>>> The conversion to rotation matrix and slerp are the best candidates
>>>> here. The other methods rely on core classes from commons-geometry,
>>>> namely Vector3D.
>>>
>>> Is "slerp" applicable to a general "Quaternion", or does it assume
>>> the additional requirements of "QuaternionRotation"?
>>> [Same question applies to all utilities in order to decide where to
>>> define them.]
>>>
>>>>
>>>> One more note: I decided to make a separate package for 3D rotations
>>>> in my working branch for GEOMETRY-14, so QuaternionRotation is now
>>>> at
>>>>
>>>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
>> .
>>>
>>> Could you please update it so that it inherits from "Quaternion"?
>>>
>>> Thanks,
>>> Gilles
>>>
>>>>
>>>> -Matt
>>>> ________________________________
>>>> From: Gilles <gi...@harfang.homelinux.org>
>>>> Sent: Sunday, December 2, 2018 3:57 PM
>>>> To: dev@commons.apache.org
>>>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
>>>> Making Quaternion a VALJO)
>>>>
>>>>> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
>>>>> Unless anyone objects, I'm going to continue with what I'm working
>>>>> on
>>>>
>>>> I certainly don't object on your working to improve the geometry
>>>> code, but wherever that work overlaps with code being worked on
>>>> elsewhere (in this case, the "Quaternion" class), then we'd
>>>> rather have a discussion happening here first.
>>>>
>>>>> with QuaternionRotation and create a merge request. That way, we'll
>>>>> at
>>>>> least have a reference implementation and baseline functionality
>>>>> for
>>>>> commons-geometry that we can modify later based on what's decided
>>>>> here.
>>>>
>>>> My questions below are a start; I'm waiting for answers.
>>>> Code duplication is bad (TM).
>>>>
>>>> Regards,
>>>> Gilles
>>>>
>>>>>
>>>>> -Matt
>>>>> ________________________________
>>>>> From: Gilles <gi...@harfang.homelinux.org>
>>>>> Sent: Saturday, December 1, 2018 9:40 PM
>>>>> To: dev@commons.apache.org
>>>>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
>>>>> Making Quaternion a VALJO)
>>>>>
>>>>>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>>>>>> Hello.
>>>>>>
>>>>>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>>>>>>> Hi guys,
>>>>>>>
>>>>>>> FYI, I've been working on a quaternion-related class named
>>>>>>> QuaternionRotation for commons-geometry (see link below). It
>>>>>>> includes
>>>>>>> slerp as well as several other geometry-oriented methods, such as
>>>>>>> conversion to/from axis-angle representations and creation from
>>>>>>> basis
>>>>>>> rotations. It's not quite ready for a merge yet since I still
>>>>>>> need
>>>>>>> to
>>>>>>> finish the Euler angle conversions.
>>>>>>>
>>>>>>> I did not use the Quaternion class from commons-numbers since I
>>>>>>> wanted to focus solely on using quaternions to represent 3D
>>>>>>> rotations.
>>>>>>> I felt like the commons-numbers class was too general for this.
>>>>>>
>>>>>> We need to explore further how to avoid duplication.
>>>>>>
>>>>>> Some questions:
>>>>>> * Should "QuaternionRotation" inherit from "Quaternion"?
>>>>>> * Should "Quaternion" be defined in [Geometry] (and removed from
>>>>>> [Numbers])?
>>>>>> * Are some utilities defined in "QuaternionRotation" general
>>>>>> such that they could be part of the [Numbers] "Quaternion" API.
>>>>>> An example might be the transformation between quaternion and
>>>>>> matrix (represented as a double[3][3])?
>>>>>>
>>>>>> The second consideration could apply to any computation that does
>>>>>> not require types defined in [Geometry]. For example,
>>>>>> interpolation
>>>>>> is a purely quaternion-internal operation.
>>>>>
>>>>> s/second/third/
>>>>>
>>>>>>
>>>>>> It looks to me that it should be possible to come up with a design
>>>>>> that defines "rotation" in [Geometry] which uses a "quaternion"
>>>>>> defined in [Numbers].
>>>>>> Otherwise, one would wonder why "Complex" is also not in
>>>>>> [Geometry]
>>>>>> (for 2D rotations).
>>>>>>
>>>>>> Best regards,
>>>>>> Gilles
>>>>>>
>>>>>>>
>>>>>>> Regards,
>>>>>>> Matt
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> darkma773r/commons-geometry<
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>
>>>>>>> Apache Commons Geometry. Contribute to
>>>>>>> darkma773r/commons-geometry
>>>>>>> development by creating an account on GitHub.
>>>>>>> github.com
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> ________________________________
>>>>>>> From: Gilles <gi...@harfang.homelinux.org>
>>>>>>> Sent: Friday, November 30, 2018 9:37 AM
>>>>>>> To: dev@commons.apache.org
>>>>>>> Subject: Re: [numbers] Making Quaternion a VALJO
>>>>>>>
>>>>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>>>>>>>> and I have also emailed an ICLA.
>>>>>>>>
>>>>>>>>> Not received/acknowledged yet.
>>>>>>>>
>>>>>>>> I am now listed on the "Persons with signed CLAs but who are not
>>>>>>>> (yet)
>>>>>>>> committers." page.
>>>>>>>
>>>>>>> Welcome!
>>>>>>>
>>>>>>>>>> I think two convenience divide methods performing qr^{-1} and
>>>>>>>>> r^{-1}q
>>>>>>>>>> for q
>>>>>>>>>> and r would be useful, but I couldn't think of nice names for
>>>>>>>>> them.
>>>>>>>>
>>>>>>>>> What are the use-cases?
>>>>>>>>> Why aren't "multiply" and "inverse" enough?
>>>>>>>>
>>>>>>>> I must admit I'm new to quaternions and stumbled into the
>>>>>>>> project
>>>>>>>> while
>>>>>>>> trying to improve my understanding so I'm not going to claim
>>>>>>>> great
>>>>>>>> knowledge of how common these operations are. I was primarily
>>>>>>>> thinking of
>>>>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
>>>>>>>> you
>>>>>>>> end up
>>>>>>>> creating inverse instances and throwing them away a lot and I
>>>>>>>> thought
>>>>>>>> it
>>>>>>>> would be good to reduce that overhead.
>>>>>>>
>>>>>>> Surely, the class "Quaternion" is minimal but, before adding to
>>>>>>> the API, we be careful to have use-cases for low-level
>>>>>>> operations.
>>>>>>> Those mentioned above seems more high-level, tied to a specific
>>>>>>> domain (see also "Commons Geometry", another new component not
>>>>>>> yet
>>>>>>> released) but I may be wrong...
>>>>>>>
>>>>>>> Regards,
>>>>>>> Gilles
>>>>>>>
>>>>>>>>
>>>>>>>> Steve
>>>>>>>
>>>>>>
>>
>>
>> ---------------------------------------------------------------------
>> To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
>> For additional commands, e-mail: dev-help@commons.apache.org
>>
>>
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To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
For additional commands, e-mail: dev-help@commons.apache.org
Re: [Numbers] Inheritance and ValJO ?
Posted by Stephen Colebourne <sc...@joda.org>.
I can see the paragraph I wrote way back when, but I'd disagree with myself
now. To be a VALJO you can't be abstract nor have subclasses, even a closed
set. I say this on the basis that AFAICT, future value types will also have
the same restrictions.
That said, VALJO rules are intended as a guide to best practice that may be
beneficial when value types arrive. I don't think the code you've got is
fundamentally wrong - its a reasonable way to share logic. An alternative
would be an enum `QuaternianType` that has methods.
final class Quaternion {
private final QuaternionType type;
private final double w;
private final double x;
private final double y;
private final double z;
public double norm() {
return type.norm(w, x, y, z);
}
public double normSq() {
return type.norm(w, x, y, z);
}
// and so on
}
By delegating the methods via the type enum, you get flexible behaviour
without subclass.
Stephen
On Wed, 12 Dec 2018 at 23:20, Gilles <gi...@harfang.homelinux.org> wrote:
> Hi.
>
> On Wed, 12 Dec 2018 22:48:54 +0000, Stephen Colebourne wrote:
> > I think this has already been worked out, but the main reason for no
> > inheritance is that is probably blocks future conversion to value
> > types.
> > Composition instead of inheritance is usually the right solution.
>
> Thanks for the reply.
>
> Do you think that the implementation here:
>
>
> https://gitbox.apache.org/repos/asf?p=commons-numbers.git;a=blob;f=commons-numbers-quaternion/src/main/java/org/apache/commons/numbers/quaternion/Quaternion.java
> still counts as ValJO, despite allowing (mandating even) inheritance
> by inner classes (as per your paragraph that ends with "The need for
> this is rare however.")
>
> What I don't quite see is the consequences of the class not being
> final...
>
>
> Gilles
>
> >
> > Stephen
> >
> >
> > On Sun, 9 Dec 2018 at 10:21, Gilles <gi...@harfang.homelinux.org>
> > wrote:
> >
> >> Hello.
> >>
> >> After the discussion quote below, the conclusion was to go with
> >> inheritance:
> >> https://issues.apache.org/jira/browse/NUMBERS-80
> >>
> >> However, it would make "Quaternion" fail the "ValJO" definition[1]
> >> that mandates that all constructors be private.
> >>
> >> Would a protected constructor really be an issue?
> >> [In the case of "Quaternion", the subclass constructor would only
> >> perform additional validation (cf. below for details).]
> >>
> >>
> >> Thanks,
> >> Gilles
> >>
> >> [1] https://blog.joda.org/2014/03/valjos-value-java-objects.html
> >>
> >> On Mon, 03 Dec 2018 10:31:42 +0100, Gilles wrote:
> >> > Hi.
> >> >
> >> > On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
> >> >> I was just thinking from a practical standpoint. My current
> >> >> QuaternionRotation class is still in my working branch for
> >> >> GEOMETRY-14
> >> >> and so isn't really accessible to anyone. If I can finish it up
> >> in
> >> >> its
> >> >> current state (hopefully very soon) and get it merged, then
> >> someone
> >> >> else will be able to work with it and blend the functionality
> >> with
> >> >> commons-numbers.
> >> >
> >> > Someone else?
> >> >
> >> >>
> >> >> Here are some notes on your questions from before:
> >> >>
> >> >> * Should "QuaternionRotation" inherit from "Quaternion"?
> >> >>
> >> >> That would work conceptually. The quaternions in the
> >> >> QuaternionRotation class are standard quaternions that meet two
> >> >> other
> >> >> criteria: 1) they are unit length, and 2) their scalar component
> >> is
> >> >> greater than or equal to zero (in order to standardize the angles
> >> >> involved).
> >> >
> >> > It seems indeed the perfect case for inheritance.
> >> >
> >> >> The one sticking point here is that I'm not sure how this
> >> >> fits with the VALJO concept. If we can get this sorted, then this
> >> >> very
> >> >> well may be the best option.
> >> >
> >> > What do you see as a potential issue?
> >> >
> >> >>
> >> >> * Should "Quaternion" be defined in [Geometry] (and removed
> >> from
> >> >> [Numbers])?
> >> >>
> >> >> Perhaps. I've certainly only used them to represent 3D rotations.
> >> >> Are
> >> >> there any other use cases from commons-numbers?
> >> >
> >> > Not within [Numbers], but that's the point of those very low-level
> >> > components/modules: they are common utilities used by higher-level
> >> > components/libraries/applications.
> >> >
> >> > Given that "QuaternionRotation" is a special case of "Quaternion",
> >> > it is logical to keep the latter at a lower-level, namely in
> >> > [Numebers], and make [Geometry] depend on it.
> >> >
> >> >>
> >> >> * Are some utilities defined in "QuaternionRotation" general
> >> >> such that they could be part of the [Numbers] "Quaternion"
> >> API.
> >> >> An example might be the transformation between quaternion and
> >> >> matrix (represented as a double[3][3])?
> >> >>
> >> >> The conversion to rotation matrix and slerp are the best
> >> candidates
> >> >> here. The other methods rely on core classes from
> >> commons-geometry,
> >> >> namely Vector3D.
> >> >
> >> > Is "slerp" applicable to a general "Quaternion", or does it assume
> >> > the additional requirements of "QuaternionRotation"?
> >> > [Same question applies to all utilities in order to decide where
> >> to
> >> > define them.]
> >> >
> >> >>
> >> >> One more note: I decided to make a separate package for 3D
> >> rotations
> >> >> in my working branch for GEOMETRY-14, so QuaternionRotation is
> >> now
> >> >> at
> >> >>
> >> >>
> >>
> >>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
> >> .
> >> >
> >> > Could you please update it so that it inherits from "Quaternion"?
> >> >
> >> > Thanks,
> >> > Gilles
> >> >
> >> >>
> >> >> -Matt
> >> >> ________________________________
> >> >> From: Gilles <gi...@harfang.homelinux.org>
> >> >> Sent: Sunday, December 2, 2018 3:57 PM
> >> >> To: dev@commons.apache.org
> >> >> Subject: Re: [Numbers][Geometry] Where to define "quaternion"
> >> (Was:
> >> >> Making Quaternion a VALJO)
> >> >>
> >> >> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
> >> >>> Unless anyone objects, I'm going to continue with what I'm
> >> working
> >> >>> on
> >> >>
> >> >> I certainly don't object on your working to improve the geometry
> >> >> code, but wherever that work overlaps with code being worked on
> >> >> elsewhere (in this case, the "Quaternion" class), then we'd
> >> >> rather have a discussion happening here first.
> >> >>
> >> >>> with QuaternionRotation and create a merge request. That way,
> >> we'll
> >> >>> at
> >> >>> least have a reference implementation and baseline functionality
> >> >>> for
> >> >>> commons-geometry that we can modify later based on what's
> >> decided
> >> >>> here.
> >> >>
> >> >> My questions below are a start; I'm waiting for answers.
> >> >> Code duplication is bad (TM).
> >> >>
> >> >> Regards,
> >> >> Gilles
> >> >>
> >> >>>
> >> >>> -Matt
> >> >>> ________________________________
> >> >>> From: Gilles <gi...@harfang.homelinux.org>
> >> >>> Sent: Saturday, December 1, 2018 9:40 PM
> >> >>> To: dev@commons.apache.org
> >> >>> Subject: Re: [Numbers][Geometry] Where to define "quaternion"
> >> (Was:
> >> >>> Making Quaternion a VALJO)
> >> >>>
> >> >>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
> >> >>>> Hello.
> >> >>>>
> >> >>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
> >> >>>>> Hi guys,
> >> >>>>>
> >> >>>>> FYI, I've been working on a quaternion-related class named
> >> >>>>> QuaternionRotation for commons-geometry (see link below). It
> >> >>>>> includes
> >> >>>>> slerp as well as several other geometry-oriented methods, such
> >> as
> >> >>>>> conversion to/from axis-angle representations and creation
> >> from
> >> >>>>> basis
> >> >>>>> rotations. It's not quite ready for a merge yet since I still
> >> >>>>> need
> >> >>>>> to
> >> >>>>> finish the Euler angle conversions.
> >> >>>>>
> >> >>>>> I did not use the Quaternion class from commons-numbers since
> >> I
> >> >>>>> wanted to focus solely on using quaternions to represent 3D
> >> >>>>> rotations.
> >> >>>>> I felt like the commons-numbers class was too general for
> >> this.
> >> >>>>
> >> >>>> We need to explore further how to avoid duplication.
> >> >>>>
> >> >>>> Some questions:
> >> >>>> * Should "QuaternionRotation" inherit from "Quaternion"?
> >> >>>> * Should "Quaternion" be defined in [Geometry] (and removed
> >> from
> >> >>>> [Numbers])?
> >> >>>> * Are some utilities defined in "QuaternionRotation" general
> >> >>>> such that they could be part of the [Numbers] "Quaternion"
> >> API.
> >> >>>> An example might be the transformation between quaternion
> >> and
> >> >>>> matrix (represented as a double[3][3])?
> >> >>>>
> >> >>>> The second consideration could apply to any computation that
> >> does
> >> >>>> not require types defined in [Geometry]. For example,
> >> >>>> interpolation
> >> >>>> is a purely quaternion-internal operation.
> >> >>>
> >> >>> s/second/third/
> >> >>>
> >> >>>>
> >> >>>> It looks to me that it should be possible to come up with a
> >> design
> >> >>>> that defines "rotation" in [Geometry] which uses a "quaternion"
> >> >>>> defined in [Numbers].
> >> >>>> Otherwise, one would wonder why "Complex" is also not in
> >> >>>> [Geometry]
> >> >>>> (for 2D rotations).
> >> >>>>
> >> >>>> Best regards,
> >> >>>> Gilles
> >> >>>>
> >> >>>>>
> >> >>>>> Regards,
> >> >>>>> Matt
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >>
> >>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<
> >>
> >>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >> >
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>> darkma773r/commons-geometry<
> >>
> >>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >> >
> >> >>>>> Apache Commons Geometry. Contribute to
> >> >>>>> darkma773r/commons-geometry
> >> >>>>> development by creating an account on GitHub.
> >> >>>>> github.com
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>>
> >> >>>>> ________________________________
> >> >>>>> From: Gilles <gi...@harfang.homelinux.org>
> >> >>>>> Sent: Friday, November 30, 2018 9:37 AM
> >> >>>>> To: dev@commons.apache.org
> >> >>>>> Subject: Re: [numbers] Making Quaternion a VALJO
> >> >>>>>
> >> >>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
> >> >>>>>>> > and I have also emailed an ICLA.
> >> >>>>>>
> >> >>>>>>> Not received/acknowledged yet.
> >> >>>>>>
> >> >>>>>> I am now listed on the "Persons with signed CLAs but who are
> >> not
> >> >>>>>> (yet)
> >> >>>>>> committers." page.
> >> >>>>>
> >> >>>>> Welcome!
> >> >>>>>
> >> >>>>>>> > I think two convenience divide methods performing qr^{-1}
> >> and
> >> >>>>>>> r^{-1}q
> >> >>>>>>> > for q
> >> >>>>>>> > and r would be useful, but I couldn't think of nice names
> >> for
> >> >>>>>>> them.
> >> >>>>>>
> >> >>>>>>> What are the use-cases?
> >> >>>>>>> Why aren't "multiply" and "inverse" enough?
> >> >>>>>>
> >> >>>>>> I must admit I'm new to quaternions and stumbled into the
> >> >>>>>> project
> >> >>>>>> while
> >> >>>>>> trying to improve my understanding so I'm not going to claim
> >> >>>>>> great
> >> >>>>>> knowledge of how common these operations are. I was primarily
> >> >>>>>> thinking of
> >> >>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me
> >> that
> >> >>>>>> you
> >> >>>>>> end up
> >> >>>>>> creating inverse instances and throwing them away a lot and I
> >> >>>>>> thought
> >> >>>>>> it
> >> >>>>>> would be good to reduce that overhead.
> >> >>>>>
> >> >>>>> Surely, the class "Quaternion" is minimal but, before adding
> >> to
> >> >>>>> the API, we be careful to have use-cases for low-level
> >> >>>>> operations.
> >> >>>>> Those mentioned above seems more high-level, tied to a
> >> specific
> >> >>>>> domain (see also "Commons Geometry", another new component not
> >> >>>>> yet
> >> >>>>> released) but I may be wrong...
> >> >>>>>
> >> >>>>> Regards,
> >> >>>>> Gilles
> >> >>>>>
> >> >>>>>>
> >> >>>>>> Steve
> >> >>>>>
> >> >>>>
> >>
> >>
> >>
> >> ---------------------------------------------------------------------
> >> To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
> >> For additional commands, e-mail: dev-help@commons.apache.org
> >>
> >>
>
>
> ---------------------------------------------------------------------
> To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
> For additional commands, e-mail: dev-help@commons.apache.org
>
>
Re: [Numbers] Inheritance and ValJO ?
Posted by Gilles <gi...@harfang.homelinux.org>.
Hi.
On Wed, 12 Dec 2018 22:48:54 +0000, Stephen Colebourne wrote:
> I think this has already been worked out, but the main reason for no
> inheritance is that is probably blocks future conversion to value
> types.
> Composition instead of inheritance is usually the right solution.
Thanks for the reply.
Do you think that the implementation here:
https://gitbox.apache.org/repos/asf?p=commons-numbers.git;a=blob;f=commons-numbers-quaternion/src/main/java/org/apache/commons/numbers/quaternion/Quaternion.java
still counts as ValJO, despite allowing (mandating even) inheritance
by inner classes (as per your paragraph that ends with "The need for
this is rare however.")
What I don't quite see is the consequences of the class not being
final...
Gilles
>
> Stephen
>
>
> On Sun, 9 Dec 2018 at 10:21, Gilles <gi...@harfang.homelinux.org>
> wrote:
>
>> Hello.
>>
>> After the discussion quote below, the conclusion was to go with
>> inheritance:
>> https://issues.apache.org/jira/browse/NUMBERS-80
>>
>> However, it would make "Quaternion" fail the "ValJO" definition[1]
>> that mandates that all constructors be private.
>>
>> Would a protected constructor really be an issue?
>> [In the case of "Quaternion", the subclass constructor would only
>> perform additional validation (cf. below for details).]
>>
>>
>> Thanks,
>> Gilles
>>
>> [1] https://blog.joda.org/2014/03/valjos-value-java-objects.html
>>
>> On Mon, 03 Dec 2018 10:31:42 +0100, Gilles wrote:
>> > Hi.
>> >
>> > On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
>> >> I was just thinking from a practical standpoint. My current
>> >> QuaternionRotation class is still in my working branch for
>> >> GEOMETRY-14
>> >> and so isn't really accessible to anyone. If I can finish it up
>> in
>> >> its
>> >> current state (hopefully very soon) and get it merged, then
>> someone
>> >> else will be able to work with it and blend the functionality
>> with
>> >> commons-numbers.
>> >
>> > Someone else?
>> >
>> >>
>> >> Here are some notes on your questions from before:
>> >>
>> >> * Should "QuaternionRotation" inherit from "Quaternion"?
>> >>
>> >> That would work conceptually. The quaternions in the
>> >> QuaternionRotation class are standard quaternions that meet two
>> >> other
>> >> criteria: 1) they are unit length, and 2) their scalar component
>> is
>> >> greater than or equal to zero (in order to standardize the angles
>> >> involved).
>> >
>> > It seems indeed the perfect case for inheritance.
>> >
>> >> The one sticking point here is that I'm not sure how this
>> >> fits with the VALJO concept. If we can get this sorted, then this
>> >> very
>> >> well may be the best option.
>> >
>> > What do you see as a potential issue?
>> >
>> >>
>> >> * Should "Quaternion" be defined in [Geometry] (and removed
>> from
>> >> [Numbers])?
>> >>
>> >> Perhaps. I've certainly only used them to represent 3D rotations.
>> >> Are
>> >> there any other use cases from commons-numbers?
>> >
>> > Not within [Numbers], but that's the point of those very low-level
>> > components/modules: they are common utilities used by higher-level
>> > components/libraries/applications.
>> >
>> > Given that "QuaternionRotation" is a special case of "Quaternion",
>> > it is logical to keep the latter at a lower-level, namely in
>> > [Numebers], and make [Geometry] depend on it.
>> >
>> >>
>> >> * Are some utilities defined in "QuaternionRotation" general
>> >> such that they could be part of the [Numbers] "Quaternion"
>> API.
>> >> An example might be the transformation between quaternion and
>> >> matrix (represented as a double[3][3])?
>> >>
>> >> The conversion to rotation matrix and slerp are the best
>> candidates
>> >> here. The other methods rely on core classes from
>> commons-geometry,
>> >> namely Vector3D.
>> >
>> > Is "slerp" applicable to a general "Quaternion", or does it assume
>> > the additional requirements of "QuaternionRotation"?
>> > [Same question applies to all utilities in order to decide where
>> to
>> > define them.]
>> >
>> >>
>> >> One more note: I decided to make a separate package for 3D
>> rotations
>> >> in my working branch for GEOMETRY-14, so QuaternionRotation is
>> now
>> >> at
>> >>
>> >>
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
>> .
>> >
>> > Could you please update it so that it inherits from "Quaternion"?
>> >
>> > Thanks,
>> > Gilles
>> >
>> >>
>> >> -Matt
>> >> ________________________________
>> >> From: Gilles <gi...@harfang.homelinux.org>
>> >> Sent: Sunday, December 2, 2018 3:57 PM
>> >> To: dev@commons.apache.org
>> >> Subject: Re: [Numbers][Geometry] Where to define "quaternion"
>> (Was:
>> >> Making Quaternion a VALJO)
>> >>
>> >> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
>> >>> Unless anyone objects, I'm going to continue with what I'm
>> working
>> >>> on
>> >>
>> >> I certainly don't object on your working to improve the geometry
>> >> code, but wherever that work overlaps with code being worked on
>> >> elsewhere (in this case, the "Quaternion" class), then we'd
>> >> rather have a discussion happening here first.
>> >>
>> >>> with QuaternionRotation and create a merge request. That way,
>> we'll
>> >>> at
>> >>> least have a reference implementation and baseline functionality
>> >>> for
>> >>> commons-geometry that we can modify later based on what's
>> decided
>> >>> here.
>> >>
>> >> My questions below are a start; I'm waiting for answers.
>> >> Code duplication is bad (TM).
>> >>
>> >> Regards,
>> >> Gilles
>> >>
>> >>>
>> >>> -Matt
>> >>> ________________________________
>> >>> From: Gilles <gi...@harfang.homelinux.org>
>> >>> Sent: Saturday, December 1, 2018 9:40 PM
>> >>> To: dev@commons.apache.org
>> >>> Subject: Re: [Numbers][Geometry] Where to define "quaternion"
>> (Was:
>> >>> Making Quaternion a VALJO)
>> >>>
>> >>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>> >>>> Hello.
>> >>>>
>> >>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>> >>>>> Hi guys,
>> >>>>>
>> >>>>> FYI, I've been working on a quaternion-related class named
>> >>>>> QuaternionRotation for commons-geometry (see link below). It
>> >>>>> includes
>> >>>>> slerp as well as several other geometry-oriented methods, such
>> as
>> >>>>> conversion to/from axis-angle representations and creation
>> from
>> >>>>> basis
>> >>>>> rotations. It's not quite ready for a merge yet since I still
>> >>>>> need
>> >>>>> to
>> >>>>> finish the Euler angle conversions.
>> >>>>>
>> >>>>> I did not use the Quaternion class from commons-numbers since
>> I
>> >>>>> wanted to focus solely on using quaternions to represent 3D
>> >>>>> rotations.
>> >>>>> I felt like the commons-numbers class was too general for
>> this.
>> >>>>
>> >>>> We need to explore further how to avoid duplication.
>> >>>>
>> >>>> Some questions:
>> >>>> * Should "QuaternionRotation" inherit from "Quaternion"?
>> >>>> * Should "Quaternion" be defined in [Geometry] (and removed
>> from
>> >>>> [Numbers])?
>> >>>> * Are some utilities defined in "QuaternionRotation" general
>> >>>> such that they could be part of the [Numbers] "Quaternion"
>> API.
>> >>>> An example might be the transformation between quaternion
>> and
>> >>>> matrix (represented as a double[3][3])?
>> >>>>
>> >>>> The second consideration could apply to any computation that
>> does
>> >>>> not require types defined in [Geometry]. For example,
>> >>>> interpolation
>> >>>> is a purely quaternion-internal operation.
>> >>>
>> >>> s/second/third/
>> >>>
>> >>>>
>> >>>> It looks to me that it should be possible to come up with a
>> design
>> >>>> that defines "rotation" in [Geometry] which uses a "quaternion"
>> >>>> defined in [Numbers].
>> >>>> Otherwise, one would wonder why "Complex" is also not in
>> >>>> [Geometry]
>> >>>> (for 2D rotations).
>> >>>>
>> >>>> Best regards,
>> >>>> Gilles
>> >>>>
>> >>>>>
>> >>>>> Regards,
>> >>>>> Matt
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>> >
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>> darkma773r/commons-geometry<
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>> >
>> >>>>> Apache Commons Geometry. Contribute to
>> >>>>> darkma773r/commons-geometry
>> >>>>> development by creating an account on GitHub.
>> >>>>> github.com
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>> ________________________________
>> >>>>> From: Gilles <gi...@harfang.homelinux.org>
>> >>>>> Sent: Friday, November 30, 2018 9:37 AM
>> >>>>> To: dev@commons.apache.org
>> >>>>> Subject: Re: [numbers] Making Quaternion a VALJO
>> >>>>>
>> >>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>> >>>>>>> > and I have also emailed an ICLA.
>> >>>>>>
>> >>>>>>> Not received/acknowledged yet.
>> >>>>>>
>> >>>>>> I am now listed on the "Persons with signed CLAs but who are
>> not
>> >>>>>> (yet)
>> >>>>>> committers." page.
>> >>>>>
>> >>>>> Welcome!
>> >>>>>
>> >>>>>>> > I think two convenience divide methods performing qr^{-1}
>> and
>> >>>>>>> r^{-1}q
>> >>>>>>> > for q
>> >>>>>>> > and r would be useful, but I couldn't think of nice names
>> for
>> >>>>>>> them.
>> >>>>>>
>> >>>>>>> What are the use-cases?
>> >>>>>>> Why aren't "multiply" and "inverse" enough?
>> >>>>>>
>> >>>>>> I must admit I'm new to quaternions and stumbled into the
>> >>>>>> project
>> >>>>>> while
>> >>>>>> trying to improve my understanding so I'm not going to claim
>> >>>>>> great
>> >>>>>> knowledge of how common these operations are. I was primarily
>> >>>>>> thinking of
>> >>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me
>> that
>> >>>>>> you
>> >>>>>> end up
>> >>>>>> creating inverse instances and throwing them away a lot and I
>> >>>>>> thought
>> >>>>>> it
>> >>>>>> would be good to reduce that overhead.
>> >>>>>
>> >>>>> Surely, the class "Quaternion" is minimal but, before adding
>> to
>> >>>>> the API, we be careful to have use-cases for low-level
>> >>>>> operations.
>> >>>>> Those mentioned above seems more high-level, tied to a
>> specific
>> >>>>> domain (see also "Commons Geometry", another new component not
>> >>>>> yet
>> >>>>> released) but I may be wrong...
>> >>>>>
>> >>>>> Regards,
>> >>>>> Gilles
>> >>>>>
>> >>>>>>
>> >>>>>> Steve
>> >>>>>
>> >>>>
>>
>>
>>
>> ---------------------------------------------------------------------
>> To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
>> For additional commands, e-mail: dev-help@commons.apache.org
>>
>>
---------------------------------------------------------------------
To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
For additional commands, e-mail: dev-help@commons.apache.org
Re: [Numbers] Inheritance and ValJO ? (Was: Where to define "quaternion"?)
Posted by Stephen Colebourne <sc...@joda.org>.
I think this has already been worked out, but the main reason for no
inheritance is that is probably blocks future conversion to value types.
Composition instead of inheritance is usually the right solution.
Stephen
On Sun, 9 Dec 2018 at 10:21, Gilles <gi...@harfang.homelinux.org> wrote:
> Hello.
>
> After the discussion quote below, the conclusion was to go with
> inheritance:
> https://issues.apache.org/jira/browse/NUMBERS-80
>
> However, it would make "Quaternion" fail the "ValJO" definition[1]
> that mandates that all constructors be private.
>
> Would a protected constructor really be an issue?
> [In the case of "Quaternion", the subclass constructor would only
> perform additional validation (cf. below for details).]
>
>
> Thanks,
> Gilles
>
> [1] https://blog.joda.org/2014/03/valjos-value-java-objects.html
>
> On Mon, 03 Dec 2018 10:31:42 +0100, Gilles wrote:
> > Hi.
> >
> > On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
> >> I was just thinking from a practical standpoint. My current
> >> QuaternionRotation class is still in my working branch for
> >> GEOMETRY-14
> >> and so isn't really accessible to anyone. If I can finish it up in
> >> its
> >> current state (hopefully very soon) and get it merged, then someone
> >> else will be able to work with it and blend the functionality with
> >> commons-numbers.
> >
> > Someone else?
> >
> >>
> >> Here are some notes on your questions from before:
> >>
> >> * Should "QuaternionRotation" inherit from "Quaternion"?
> >>
> >> That would work conceptually. The quaternions in the
> >> QuaternionRotation class are standard quaternions that meet two
> >> other
> >> criteria: 1) they are unit length, and 2) their scalar component is
> >> greater than or equal to zero (in order to standardize the angles
> >> involved).
> >
> > It seems indeed the perfect case for inheritance.
> >
> >> The one sticking point here is that I'm not sure how this
> >> fits with the VALJO concept. If we can get this sorted, then this
> >> very
> >> well may be the best option.
> >
> > What do you see as a potential issue?
> >
> >>
> >> * Should "Quaternion" be defined in [Geometry] (and removed from
> >> [Numbers])?
> >>
> >> Perhaps. I've certainly only used them to represent 3D rotations.
> >> Are
> >> there any other use cases from commons-numbers?
> >
> > Not within [Numbers], but that's the point of those very low-level
> > components/modules: they are common utilities used by higher-level
> > components/libraries/applications.
> >
> > Given that "QuaternionRotation" is a special case of "Quaternion",
> > it is logical to keep the latter at a lower-level, namely in
> > [Numebers], and make [Geometry] depend on it.
> >
> >>
> >> * Are some utilities defined in "QuaternionRotation" general
> >> such that they could be part of the [Numbers] "Quaternion" API.
> >> An example might be the transformation between quaternion and
> >> matrix (represented as a double[3][3])?
> >>
> >> The conversion to rotation matrix and slerp are the best candidates
> >> here. The other methods rely on core classes from commons-geometry,
> >> namely Vector3D.
> >
> > Is "slerp" applicable to a general "Quaternion", or does it assume
> > the additional requirements of "QuaternionRotation"?
> > [Same question applies to all utilities in order to decide where to
> > define them.]
> >
> >>
> >> One more note: I decided to make a separate package for 3D rotations
> >> in my working branch for GEOMETRY-14, so QuaternionRotation is now
> >> at
> >>
> >>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
> .
> >
> > Could you please update it so that it inherits from "Quaternion"?
> >
> > Thanks,
> > Gilles
> >
> >>
> >> -Matt
> >> ________________________________
> >> From: Gilles <gi...@harfang.homelinux.org>
> >> Sent: Sunday, December 2, 2018 3:57 PM
> >> To: dev@commons.apache.org
> >> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
> >> Making Quaternion a VALJO)
> >>
> >> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
> >>> Unless anyone objects, I'm going to continue with what I'm working
> >>> on
> >>
> >> I certainly don't object on your working to improve the geometry
> >> code, but wherever that work overlaps with code being worked on
> >> elsewhere (in this case, the "Quaternion" class), then we'd
> >> rather have a discussion happening here first.
> >>
> >>> with QuaternionRotation and create a merge request. That way, we'll
> >>> at
> >>> least have a reference implementation and baseline functionality
> >>> for
> >>> commons-geometry that we can modify later based on what's decided
> >>> here.
> >>
> >> My questions below are a start; I'm waiting for answers.
> >> Code duplication is bad (TM).
> >>
> >> Regards,
> >> Gilles
> >>
> >>>
> >>> -Matt
> >>> ________________________________
> >>> From: Gilles <gi...@harfang.homelinux.org>
> >>> Sent: Saturday, December 1, 2018 9:40 PM
> >>> To: dev@commons.apache.org
> >>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
> >>> Making Quaternion a VALJO)
> >>>
> >>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
> >>>> Hello.
> >>>>
> >>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
> >>>>> Hi guys,
> >>>>>
> >>>>> FYI, I've been working on a quaternion-related class named
> >>>>> QuaternionRotation for commons-geometry (see link below). It
> >>>>> includes
> >>>>> slerp as well as several other geometry-oriented methods, such as
> >>>>> conversion to/from axis-angle representations and creation from
> >>>>> basis
> >>>>> rotations. It's not quite ready for a merge yet since I still
> >>>>> need
> >>>>> to
> >>>>> finish the Euler angle conversions.
> >>>>>
> >>>>> I did not use the Quaternion class from commons-numbers since I
> >>>>> wanted to focus solely on using quaternions to represent 3D
> >>>>> rotations.
> >>>>> I felt like the commons-numbers class was too general for this.
> >>>>
> >>>> We need to explore further how to avoid duplication.
> >>>>
> >>>> Some questions:
> >>>> * Should "QuaternionRotation" inherit from "Quaternion"?
> >>>> * Should "Quaternion" be defined in [Geometry] (and removed from
> >>>> [Numbers])?
> >>>> * Are some utilities defined in "QuaternionRotation" general
> >>>> such that they could be part of the [Numbers] "Quaternion" API.
> >>>> An example might be the transformation between quaternion and
> >>>> matrix (represented as a double[3][3])?
> >>>>
> >>>> The second consideration could apply to any computation that does
> >>>> not require types defined in [Geometry]. For example,
> >>>> interpolation
> >>>> is a purely quaternion-internal operation.
> >>>
> >>> s/second/third/
> >>>
> >>>>
> >>>> It looks to me that it should be possible to come up with a design
> >>>> that defines "rotation" in [Geometry] which uses a "quaternion"
> >>>> defined in [Numbers].
> >>>> Otherwise, one would wonder why "Complex" is also not in
> >>>> [Geometry]
> >>>> (for 2D rotations).
> >>>>
> >>>> Best regards,
> >>>> Gilles
> >>>>
> >>>>>
> >>>>> Regards,
> >>>>> Matt
> >>>>>
> >>>>>
> >>>>>
> >>>>>
> >>>>>
> >>>>>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >>>>>
> >>>>>
> >>>>>
> >>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >
> >>>>>
> >>>>>
> >>>>>
> >>>>>
> >>>>> darkma773r/commons-geometry<
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
> >
> >>>>> Apache Commons Geometry. Contribute to
> >>>>> darkma773r/commons-geometry
> >>>>> development by creating an account on GitHub.
> >>>>> github.com
> >>>>>
> >>>>>
> >>>>>
> >>>>>
> >>>>> ________________________________
> >>>>> From: Gilles <gi...@harfang.homelinux.org>
> >>>>> Sent: Friday, November 30, 2018 9:37 AM
> >>>>> To: dev@commons.apache.org
> >>>>> Subject: Re: [numbers] Making Quaternion a VALJO
> >>>>>
> >>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
> >>>>>>> > and I have also emailed an ICLA.
> >>>>>>
> >>>>>>> Not received/acknowledged yet.
> >>>>>>
> >>>>>> I am now listed on the "Persons with signed CLAs but who are not
> >>>>>> (yet)
> >>>>>> committers." page.
> >>>>>
> >>>>> Welcome!
> >>>>>
> >>>>>>> > I think two convenience divide methods performing qr^{-1} and
> >>>>>>> r^{-1}q
> >>>>>>> > for q
> >>>>>>> > and r would be useful, but I couldn't think of nice names for
> >>>>>>> them.
> >>>>>>
> >>>>>>> What are the use-cases?
> >>>>>>> Why aren't "multiply" and "inverse" enough?
> >>>>>>
> >>>>>> I must admit I'm new to quaternions and stumbled into the
> >>>>>> project
> >>>>>> while
> >>>>>> trying to improve my understanding so I'm not going to claim
> >>>>>> great
> >>>>>> knowledge of how common these operations are. I was primarily
> >>>>>> thinking of
> >>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
> >>>>>> you
> >>>>>> end up
> >>>>>> creating inverse instances and throwing them away a lot and I
> >>>>>> thought
> >>>>>> it
> >>>>>> would be good to reduce that overhead.
> >>>>>
> >>>>> Surely, the class "Quaternion" is minimal but, before adding to
> >>>>> the API, we be careful to have use-cases for low-level
> >>>>> operations.
> >>>>> Those mentioned above seems more high-level, tied to a specific
> >>>>> domain (see also "Commons Geometry", another new component not
> >>>>> yet
> >>>>> released) but I may be wrong...
> >>>>>
> >>>>> Regards,
> >>>>> Gilles
> >>>>>
> >>>>>>
> >>>>>> Steve
> >>>>>
> >>>>
>
>
> ---------------------------------------------------------------------
> To unsubscribe, e-mail: dev-unsubscribe@commons.apache.org
> For additional commands, e-mail: dev-help@commons.apache.org
>
>
[Numbers] Inheritance and ValJO ? (Was: Where to define "quaternion"?)
Posted by Gilles <gi...@harfang.homelinux.org>.
Hello.
After the discussion quote below, the conclusion was to go with
inheritance:
https://issues.apache.org/jira/browse/NUMBERS-80
However, it would make "Quaternion" fail the "ValJO" definition[1]
that mandates that all constructors be private.
Would a protected constructor really be an issue?
[In the case of "Quaternion", the subclass constructor would only
perform additional validation (cf. below for details).]
Thanks,
Gilles
[1] https://blog.joda.org/2014/03/valjos-value-java-objects.html
On Mon, 03 Dec 2018 10:31:42 +0100, Gilles wrote:
> Hi.
>
> On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
>> I was just thinking from a practical standpoint. My current
>> QuaternionRotation class is still in my working branch for
>> GEOMETRY-14
>> and so isn't really accessible to anyone. If I can finish it up in
>> its
>> current state (hopefully very soon) and get it merged, then someone
>> else will be able to work with it and blend the functionality with
>> commons-numbers.
>
> Someone else?
>
>>
>> Here are some notes on your questions from before:
>>
>> * Should "QuaternionRotation" inherit from "Quaternion"?
>>
>> That would work conceptually. The quaternions in the
>> QuaternionRotation class are standard quaternions that meet two
>> other
>> criteria: 1) they are unit length, and 2) their scalar component is
>> greater than or equal to zero (in order to standardize the angles
>> involved).
>
> It seems indeed the perfect case for inheritance.
>
>> The one sticking point here is that I'm not sure how this
>> fits with the VALJO concept. If we can get this sorted, then this
>> very
>> well may be the best option.
>
> What do you see as a potential issue?
>
>>
>> * Should "Quaternion" be defined in [Geometry] (and removed from
>> [Numbers])?
>>
>> Perhaps. I've certainly only used them to represent 3D rotations.
>> Are
>> there any other use cases from commons-numbers?
>
> Not within [Numbers], but that's the point of those very low-level
> components/modules: they are common utilities used by higher-level
> components/libraries/applications.
>
> Given that "QuaternionRotation" is a special case of "Quaternion",
> it is logical to keep the latter at a lower-level, namely in
> [Numebers], and make [Geometry] depend on it.
>
>>
>> * Are some utilities defined in "QuaternionRotation" general
>> such that they could be part of the [Numbers] "Quaternion" API.
>> An example might be the transformation between quaternion and
>> matrix (represented as a double[3][3])?
>>
>> The conversion to rotation matrix and slerp are the best candidates
>> here. The other methods rely on core classes from commons-geometry,
>> namely Vector3D.
>
> Is "slerp" applicable to a general "Quaternion", or does it assume
> the additional requirements of "QuaternionRotation"?
> [Same question applies to all utilities in order to decide where to
> define them.]
>
>>
>> One more note: I decided to make a separate package for 3D rotations
>> in my working branch for GEOMETRY-14, so QuaternionRotation is now
>> at
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java.
>
> Could you please update it so that it inherits from "Quaternion"?
>
> Thanks,
> Gilles
>
>>
>> -Matt
>> ________________________________
>> From: Gilles <gi...@harfang.homelinux.org>
>> Sent: Sunday, December 2, 2018 3:57 PM
>> To: dev@commons.apache.org
>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
>> Making Quaternion a VALJO)
>>
>> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
>>> Unless anyone objects, I'm going to continue with what I'm working
>>> on
>>
>> I certainly don't object on your working to improve the geometry
>> code, but wherever that work overlaps with code being worked on
>> elsewhere (in this case, the "Quaternion" class), then we'd
>> rather have a discussion happening here first.
>>
>>> with QuaternionRotation and create a merge request. That way, we'll
>>> at
>>> least have a reference implementation and baseline functionality
>>> for
>>> commons-geometry that we can modify later based on what's decided
>>> here.
>>
>> My questions below are a start; I'm waiting for answers.
>> Code duplication is bad (TM).
>>
>> Regards,
>> Gilles
>>
>>>
>>> -Matt
>>> ________________________________
>>> From: Gilles <gi...@harfang.homelinux.org>
>>> Sent: Saturday, December 1, 2018 9:40 PM
>>> To: dev@commons.apache.org
>>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
>>> Making Quaternion a VALJO)
>>>
>>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>>>> Hello.
>>>>
>>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>>>>> Hi guys,
>>>>>
>>>>> FYI, I've been working on a quaternion-related class named
>>>>> QuaternionRotation for commons-geometry (see link below). It
>>>>> includes
>>>>> slerp as well as several other geometry-oriented methods, such as
>>>>> conversion to/from axis-angle representations and creation from
>>>>> basis
>>>>> rotations. It's not quite ready for a merge yet since I still
>>>>> need
>>>>> to
>>>>> finish the Euler angle conversions.
>>>>>
>>>>> I did not use the Quaternion class from commons-numbers since I
>>>>> wanted to focus solely on using quaternions to represent 3D
>>>>> rotations.
>>>>> I felt like the commons-numbers class was too general for this.
>>>>
>>>> We need to explore further how to avoid duplication.
>>>>
>>>> Some questions:
>>>> * Should "QuaternionRotation" inherit from "Quaternion"?
>>>> * Should "Quaternion" be defined in [Geometry] (and removed from
>>>> [Numbers])?
>>>> * Are some utilities defined in "QuaternionRotation" general
>>>> such that they could be part of the [Numbers] "Quaternion" API.
>>>> An example might be the transformation between quaternion and
>>>> matrix (represented as a double[3][3])?
>>>>
>>>> The second consideration could apply to any computation that does
>>>> not require types defined in [Geometry]. For example,
>>>> interpolation
>>>> is a purely quaternion-internal operation.
>>>
>>> s/second/third/
>>>
>>>>
>>>> It looks to me that it should be possible to come up with a design
>>>> that defines "rotation" in [Geometry] which uses a "quaternion"
>>>> defined in [Numbers].
>>>> Otherwise, one would wonder why "Complex" is also not in
>>>> [Geometry]
>>>> (for 2D rotations).
>>>>
>>>> Best regards,
>>>> Gilles
>>>>
>>>>>
>>>>> Regards,
>>>>> Matt
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>>>
>>>>>
>>>>>
>>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>>> Apache Commons Geometry. Contribute to
>>>>> darkma773r/commons-geometry
>>>>> development by creating an account on GitHub.
>>>>> github.com
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> ________________________________
>>>>> From: Gilles <gi...@harfang.homelinux.org>
>>>>> Sent: Friday, November 30, 2018 9:37 AM
>>>>> To: dev@commons.apache.org
>>>>> Subject: Re: [numbers] Making Quaternion a VALJO
>>>>>
>>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>>>>> > and I have also emailed an ICLA.
>>>>>>
>>>>>>> Not received/acknowledged yet.
>>>>>>
>>>>>> I am now listed on the "Persons with signed CLAs but who are not
>>>>>> (yet)
>>>>>> committers." page.
>>>>>
>>>>> Welcome!
>>>>>
>>>>>>> > I think two convenience divide methods performing qr^{-1} and
>>>>>>> r^{-1}q
>>>>>>> > for q
>>>>>>> > and r would be useful, but I couldn't think of nice names for
>>>>>>> them.
>>>>>>
>>>>>>> What are the use-cases?
>>>>>>> Why aren't "multiply" and "inverse" enough?
>>>>>>
>>>>>> I must admit I'm new to quaternions and stumbled into the
>>>>>> project
>>>>>> while
>>>>>> trying to improve my understanding so I'm not going to claim
>>>>>> great
>>>>>> knowledge of how common these operations are. I was primarily
>>>>>> thinking of
>>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
>>>>>> you
>>>>>> end up
>>>>>> creating inverse instances and throwing them away a lot and I
>>>>>> thought
>>>>>> it
>>>>>> would be good to reduce that overhead.
>>>>>
>>>>> Surely, the class "Quaternion" is minimal but, before adding to
>>>>> the API, we be careful to have use-cases for low-level
>>>>> operations.
>>>>> Those mentioned above seems more high-level, tied to a specific
>>>>> domain (see also "Commons Geometry", another new component not
>>>>> yet
>>>>> released) but I may be wrong...
>>>>>
>>>>> Regards,
>>>>> Gilles
>>>>>
>>>>>>
>>>>>> Steve
>>>>>
>>>>
---------------------------------------------------------------------
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Re: [Numbers][Geometry] Where to define "quaternion"?
Posted by Gilles <gi...@harfang.homelinux.org>.
Hi.
On Mon, 3 Dec 2018 03:56:02 +0000, Matt Juntunen wrote:
> I was just thinking from a practical standpoint. My current
> QuaternionRotation class is still in my working branch for
> GEOMETRY-14
> and so isn't really accessible to anyone. If I can finish it up in
> its
> current state (hopefully very soon) and get it merged, then someone
> else will be able to work with it and blend the functionality with
> commons-numbers.
Someone else?
>
> Here are some notes on your questions from before:
>
> * Should "QuaternionRotation" inherit from "Quaternion"?
>
> That would work conceptually. The quaternions in the
> QuaternionRotation class are standard quaternions that meet two other
> criteria: 1) they are unit length, and 2) their scalar component is
> greater than or equal to zero (in order to standardize the angles
> involved).
It seems indeed the perfect case for inheritance.
> The one sticking point here is that I'm not sure how this
> fits with the VALJO concept. If we can get this sorted, then this
> very
> well may be the best option.
What do you see as a potential issue?
>
> * Should "Quaternion" be defined in [Geometry] (and removed from
> [Numbers])?
>
> Perhaps. I've certainly only used them to represent 3D rotations. Are
> there any other use cases from commons-numbers?
Not within [Numbers], but that's the point of those very low-level
components/modules: they are common utilities used by higher-level
components/libraries/applications.
Given that "QuaternionRotation" is a special case of "Quaternion",
it is logical to keep the latter at a lower-level, namely in
[Numebers], and make [Geometry] depend on it.
>
> * Are some utilities defined in "QuaternionRotation" general
> such that they could be part of the [Numbers] "Quaternion" API.
> An example might be the transformation between quaternion and
> matrix (represented as a double[3][3])?
>
> The conversion to rotation matrix and slerp are the best candidates
> here. The other methods rely on core classes from commons-geometry,
> namely Vector3D.
Is "slerp" applicable to a general "Quaternion", or does it assume
the additional requirements of "QuaternionRotation"?
[Same question applies to all utilities in order to decide where to
define them.]
>
> One more note: I decided to make a separate package for 3D rotations
> in my working branch for GEOMETRY-14, so QuaternionRotation is now at
>
> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java.
Could you please update it so that it inherits from "Quaternion"?
Thanks,
Gilles
>
> -Matt
> ________________________________
> From: Gilles <gi...@harfang.homelinux.org>
> Sent: Sunday, December 2, 2018 3:57 PM
> To: dev@commons.apache.org
> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
> Making Quaternion a VALJO)
>
> On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
>> Unless anyone objects, I'm going to continue with what I'm working
>> on
>
> I certainly don't object on your working to improve the geometry
> code, but wherever that work overlaps with code being worked on
> elsewhere (in this case, the "Quaternion" class), then we'd
> rather have a discussion happening here first.
>
>> with QuaternionRotation and create a merge request. That way, we'll
>> at
>> least have a reference implementation and baseline functionality for
>> commons-geometry that we can modify later based on what's decided
>> here.
>
> My questions below are a start; I'm waiting for answers.
> Code duplication is bad (TM).
>
> Regards,
> Gilles
>
>>
>> -Matt
>> ________________________________
>> From: Gilles <gi...@harfang.homelinux.org>
>> Sent: Saturday, December 1, 2018 9:40 PM
>> To: dev@commons.apache.org
>> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
>> Making Quaternion a VALJO)
>>
>> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>>> Hello.
>>>
>>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>>>> Hi guys,
>>>>
>>>> FYI, I've been working on a quaternion-related class named
>>>> QuaternionRotation for commons-geometry (see link below). It
>>>> includes
>>>> slerp as well as several other geometry-oriented methods, such as
>>>> conversion to/from axis-angle representations and creation from
>>>> basis
>>>> rotations. It's not quite ready for a merge yet since I still need
>>>> to
>>>> finish the Euler angle conversions.
>>>>
>>>> I did not use the Quaternion class from commons-numbers since I
>>>> wanted to focus solely on using quaternions to represent 3D
>>>> rotations.
>>>> I felt like the commons-numbers class was too general for this.
>>>
>>> We need to explore further how to avoid duplication.
>>>
>>> Some questions:
>>> * Should "QuaternionRotation" inherit from "Quaternion"?
>>> * Should "Quaternion" be defined in [Geometry] (and removed from
>>> [Numbers])?
>>> * Are some utilities defined in "QuaternionRotation" general
>>> such that they could be part of the [Numbers] "Quaternion" API.
>>> An example might be the transformation between quaternion and
>>> matrix (represented as a double[3][3])?
>>>
>>> The second consideration could apply to any computation that does
>>> not require types defined in [Geometry]. For example,
>>> interpolation
>>> is a purely quaternion-internal operation.
>>
>> s/second/third/
>>
>>>
>>> It looks to me that it should be possible to come up with a design
>>> that defines "rotation" in [Geometry] which uses a "quaternion"
>>> defined in [Numbers].
>>> Otherwise, one would wonder why "Complex" is also not in [Geometry]
>>> (for 2D rotations).
>>>
>>> Best regards,
>>> Gilles
>>>
>>>>
>>>> Regards,
>>>> Matt
>>>>
>>>>
>>>>
>>>>
>>>>
>>>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>>
>>>>
>>>>
>>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>>
>>>>
>>>>
>>>>
>>>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
>>>> development by creating an account on GitHub.
>>>> github.com
>>>>
>>>>
>>>>
>>>>
>>>> ________________________________
>>>> From: Gilles <gi...@harfang.homelinux.org>
>>>> Sent: Friday, November 30, 2018 9:37 AM
>>>> To: dev@commons.apache.org
>>>> Subject: Re: [numbers] Making Quaternion a VALJO
>>>>
>>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>>>> > and I have also emailed an ICLA.
>>>>>
>>>>>> Not received/acknowledged yet.
>>>>>
>>>>> I am now listed on the "Persons with signed CLAs but who are not
>>>>> (yet)
>>>>> committers." page.
>>>>
>>>> Welcome!
>>>>
>>>>>> > I think two convenience divide methods performing qr^{-1} and
>>>>>> r^{-1}q
>>>>>> > for q
>>>>>> > and r would be useful, but I couldn't think of nice names for
>>>>>> them.
>>>>>
>>>>>> What are the use-cases?
>>>>>> Why aren't "multiply" and "inverse" enough?
>>>>>
>>>>> I must admit I'm new to quaternions and stumbled into the project
>>>>> while
>>>>> trying to improve my understanding so I'm not going to claim
>>>>> great
>>>>> knowledge of how common these operations are. I was primarily
>>>>> thinking of
>>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
>>>>> you
>>>>> end up
>>>>> creating inverse instances and throwing them away a lot and I
>>>>> thought
>>>>> it
>>>>> would be good to reduce that overhead.
>>>>
>>>> Surely, the class "Quaternion" is minimal but, before adding to
>>>> the API, we be careful to have use-cases for low-level operations.
>>>> Those mentioned above seems more high-level, tied to a specific
>>>> domain (see also "Commons Geometry", another new component not yet
>>>> released) but I may be wrong...
>>>>
>>>> Regards,
>>>> Gilles
>>>>
>>>>>
>>>>> Steve
>>>>
>>>
---------------------------------------------------------------------
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Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making
Quaternion a VALJO)
Posted by Matt Juntunen <ma...@hotmail.com>.
I was just thinking from a practical standpoint. My current QuaternionRotation class is still in my working branch for GEOMETRY-14 and so isn't really accessible to anyone. If I can finish it up in its current state (hopefully very soon) and get it merged, then someone else will be able to work with it and blend the functionality with commons-numbers.
Here are some notes on your questions from before:
* Should "QuaternionRotation" inherit from "Quaternion"?
That would work conceptually. The quaternions in the QuaternionRotation class are standard quaternions that meet two other criteria: 1) they are unit length, and 2) their scalar component is greater than or equal to zero (in order to standardize the angles involved). The one sticking point here is that I'm not sure how this fits with the VALJO concept. If we can get this sorted, then this very well may be the best option.
* Should "Quaternion" be defined in [Geometry] (and removed from [Numbers])?
Perhaps. I've certainly only used them to represent 3D rotations. Are there any other use cases from commons-numbers?
* Are some utilities defined in "QuaternionRotation" general
such that they could be part of the [Numbers] "Quaternion" API.
An example might be the transformation between quaternion and
matrix (represented as a double[3][3])?
The conversion to rotation matrix and slerp are the best candidates here. The other methods rely on core classes from commons-geometry, namely Vector3D.
One more note: I decided to make a separate package for 3D rotations in my working branch for GEOMETRY-14, so QuaternionRotation is now at https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java.
-Matt
________________________________
From: Gilles <gi...@harfang.homelinux.org>
Sent: Sunday, December 2, 2018 3:57 PM
To: dev@commons.apache.org
Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making Quaternion a VALJO)
On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
> Unless anyone objects, I'm going to continue with what I'm working on
I certainly don't object on your working to improve the geometry
code, but wherever that work overlaps with code being worked on
elsewhere (in this case, the "Quaternion" class), then we'd
rather have a discussion happening here first.
> with QuaternionRotation and create a merge request. That way, we'll
> at
> least have a reference implementation and baseline functionality for
> commons-geometry that we can modify later based on what's decided
> here.
My questions below are a start; I'm waiting for answers.
Code duplication is bad (TM).
Regards,
Gilles
>
> -Matt
> ________________________________
> From: Gilles <gi...@harfang.homelinux.org>
> Sent: Saturday, December 1, 2018 9:40 PM
> To: dev@commons.apache.org
> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
> Making Quaternion a VALJO)
>
> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>> Hello.
>>
>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>>> Hi guys,
>>>
>>> FYI, I've been working on a quaternion-related class named
>>> QuaternionRotation for commons-geometry (see link below). It
>>> includes
>>> slerp as well as several other geometry-oriented methods, such as
>>> conversion to/from axis-angle representations and creation from
>>> basis
>>> rotations. It's not quite ready for a merge yet since I still need
>>> to
>>> finish the Euler angle conversions.
>>>
>>> I did not use the Quaternion class from commons-numbers since I
>>> wanted to focus solely on using quaternions to represent 3D
>>> rotations.
>>> I felt like the commons-numbers class was too general for this.
>>
>> We need to explore further how to avoid duplication.
>>
>> Some questions:
>> * Should "QuaternionRotation" inherit from "Quaternion"?
>> * Should "Quaternion" be defined in [Geometry] (and removed from
>> [Numbers])?
>> * Are some utilities defined in "QuaternionRotation" general
>> such that they could be part of the [Numbers] "Quaternion" API.
>> An example might be the transformation between quaternion and
>> matrix (represented as a double[3][3])?
>>
>> The second consideration could apply to any computation that does
>> not require types defined in [Geometry]. For example, interpolation
>> is a purely quaternion-internal operation.
>
> s/second/third/
>
>>
>> It looks to me that it should be possible to come up with a design
>> that defines "rotation" in [Geometry] which uses a "quaternion"
>> defined in [Numbers].
>> Otherwise, one would wonder why "Complex" is also not in [Geometry]
>> (for 2D rotations).
>>
>> Best regards,
>> Gilles
>>
>>>
>>> Regards,
>>> Matt
>>>
>>>
>>>
>>>
>>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>
>>>
>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>
>>>
>>>
>>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
>>> development by creating an account on GitHub.
>>> github.com
>>>
>>>
>>>
>>>
>>> ________________________________
>>> From: Gilles <gi...@harfang.homelinux.org>
>>> Sent: Friday, November 30, 2018 9:37 AM
>>> To: dev@commons.apache.org
>>> Subject: Re: [numbers] Making Quaternion a VALJO
>>>
>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>>> > and I have also emailed an ICLA.
>>>>
>>>>> Not received/acknowledged yet.
>>>>
>>>> I am now listed on the "Persons with signed CLAs but who are not
>>>> (yet)
>>>> committers." page.
>>>
>>> Welcome!
>>>
>>>>> > I think two convenience divide methods performing qr^{-1} and
>>>>> r^{-1}q
>>>>> > for q
>>>>> > and r would be useful, but I couldn't think of nice names for
>>>>> them.
>>>>
>>>>> What are the use-cases?
>>>>> Why aren't "multiply" and "inverse" enough?
>>>>
>>>> I must admit I'm new to quaternions and stumbled into the project
>>>> while
>>>> trying to improve my understanding so I'm not going to claim great
>>>> knowledge of how common these operations are. I was primarily
>>>> thinking of
>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
>>>> you
>>>> end up
>>>> creating inverse instances and throwing them away a lot and I
>>>> thought
>>>> it
>>>> would be good to reduce that overhead.
>>>
>>> Surely, the class "Quaternion" is minimal but, before adding to
>>> the API, we be careful to have use-cases for low-level operations.
>>> Those mentioned above seems more high-level, tied to a specific
>>> domain (see also "Commons Geometry", another new component not yet
>>> released) but I may be wrong...
>>>
>>> Regards,
>>> Gilles
>>>
>>>>
>>>> Steve
>>>
>>
---------------------------------------------------------------------
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For additional commands, e-mail: dev-help@commons.apache.org
Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making
Quaternion a VALJO)
Posted by Gilles <gi...@harfang.homelinux.org>.
On Sun, 2 Dec 2018 19:20:03 +0000, Matt Juntunen wrote:
> Unless anyone objects, I'm going to continue with what I'm working on
I certainly don't object on your working to improve the geometry
code, but wherever that work overlaps with code being worked on
elsewhere (in this case, the "Quaternion" class), then we'd
rather have a discussion happening here first.
> with QuaternionRotation and create a merge request. That way, we'll
> at
> least have a reference implementation and baseline functionality for
> commons-geometry that we can modify later based on what's decided
> here.
My questions below are a start; I'm waiting for answers.
Code duplication is bad (TM).
Regards,
Gilles
>
> -Matt
> ________________________________
> From: Gilles <gi...@harfang.homelinux.org>
> Sent: Saturday, December 1, 2018 9:40 PM
> To: dev@commons.apache.org
> Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was:
> Making Quaternion a VALJO)
>
> On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
>> Hello.
>>
>> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>>> Hi guys,
>>>
>>> FYI, I've been working on a quaternion-related class named
>>> QuaternionRotation for commons-geometry (see link below). It
>>> includes
>>> slerp as well as several other geometry-oriented methods, such as
>>> conversion to/from axis-angle representations and creation from
>>> basis
>>> rotations. It's not quite ready for a merge yet since I still need
>>> to
>>> finish the Euler angle conversions.
>>>
>>> I did not use the Quaternion class from commons-numbers since I
>>> wanted to focus solely on using quaternions to represent 3D
>>> rotations.
>>> I felt like the commons-numbers class was too general for this.
>>
>> We need to explore further how to avoid duplication.
>>
>> Some questions:
>> * Should "QuaternionRotation" inherit from "Quaternion"?
>> * Should "Quaternion" be defined in [Geometry] (and removed from
>> [Numbers])?
>> * Are some utilities defined in "QuaternionRotation" general
>> such that they could be part of the [Numbers] "Quaternion" API.
>> An example might be the transformation between quaternion and
>> matrix (represented as a double[3][3])?
>>
>> The second consideration could apply to any computation that does
>> not require types defined in [Geometry]. For example, interpolation
>> is a purely quaternion-internal operation.
>
> s/second/third/
>
>>
>> It looks to me that it should be possible to come up with a design
>> that defines "rotation" in [Geometry] which uses a "quaternion"
>> defined in [Numbers].
>> Otherwise, one would wonder why "Complex" is also not in [Geometry]
>> (for 2D rotations).
>>
>> Best regards,
>> Gilles
>>
>>>
>>> Regards,
>>> Matt
>>>
>>>
>>>
>>>
>>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>>
>>>
>>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>>
>>>
>>>
>>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
>>> development by creating an account on GitHub.
>>> github.com
>>>
>>>
>>>
>>>
>>> ________________________________
>>> From: Gilles <gi...@harfang.homelinux.org>
>>> Sent: Friday, November 30, 2018 9:37 AM
>>> To: dev@commons.apache.org
>>> Subject: Re: [numbers] Making Quaternion a VALJO
>>>
>>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>>> > and I have also emailed an ICLA.
>>>>
>>>>> Not received/acknowledged yet.
>>>>
>>>> I am now listed on the "Persons with signed CLAs but who are not
>>>> (yet)
>>>> committers." page.
>>>
>>> Welcome!
>>>
>>>>> > I think two convenience divide methods performing qr^{-1} and
>>>>> r^{-1}q
>>>>> > for q
>>>>> > and r would be useful, but I couldn't think of nice names for
>>>>> them.
>>>>
>>>>> What are the use-cases?
>>>>> Why aren't "multiply" and "inverse" enough?
>>>>
>>>> I must admit I'm new to quaternions and stumbled into the project
>>>> while
>>>> trying to improve my understanding so I'm not going to claim great
>>>> knowledge of how common these operations are. I was primarily
>>>> thinking of
>>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that
>>>> you
>>>> end up
>>>> creating inverse instances and throwing them away a lot and I
>>>> thought
>>>> it
>>>> would be good to reduce that overhead.
>>>
>>> Surely, the class "Quaternion" is minimal but, before adding to
>>> the API, we be careful to have use-cases for low-level operations.
>>> Those mentioned above seems more high-level, tied to a specific
>>> domain (see also "Commons Geometry", another new component not yet
>>> released) but I may be wrong...
>>>
>>> Regards,
>>> Gilles
>>>
>>>>
>>>> Steve
>>>
>>
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Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making
Quaternion a VALJO)
Posted by Matt Juntunen <ma...@hotmail.com>.
Unless anyone objects, I'm going to continue with what I'm working on with QuaternionRotation and create a merge request. That way, we'll at least have a reference implementation and baseline functionality for commons-geometry that we can modify later based on what's decided here.
-Matt
________________________________
From: Gilles <gi...@harfang.homelinux.org>
Sent: Saturday, December 1, 2018 9:40 PM
To: dev@commons.apache.org
Subject: Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making Quaternion a VALJO)
On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
> Hello.
>
> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>> Hi guys,
>>
>> FYI, I've been working on a quaternion-related class named
>> QuaternionRotation for commons-geometry (see link below). It
>> includes
>> slerp as well as several other geometry-oriented methods, such as
>> conversion to/from axis-angle representations and creation from
>> basis
>> rotations. It's not quite ready for a merge yet since I still need
>> to
>> finish the Euler angle conversions.
>>
>> I did not use the Quaternion class from commons-numbers since I
>> wanted to focus solely on using quaternions to represent 3D
>> rotations.
>> I felt like the commons-numbers class was too general for this.
>
> We need to explore further how to avoid duplication.
>
> Some questions:
> * Should "QuaternionRotation" inherit from "Quaternion"?
> * Should "Quaternion" be defined in [Geometry] (and removed from
> [Numbers])?
> * Are some utilities defined in "QuaternionRotation" general
> such that they could be part of the [Numbers] "Quaternion" API.
> An example might be the transformation between quaternion and
> matrix (represented as a double[3][3])?
>
> The second consideration could apply to any computation that does
> not require types defined in [Geometry]. For example, interpolation
> is a purely quaternion-internal operation.
s/second/third/
>
> It looks to me that it should be possible to come up with a design
> that defines "rotation" in [Geometry] which uses a "quaternion"
> defined in [Numbers].
> Otherwise, one would wonder why "Complex" is also not in [Geometry]
> (for 2D rotations).
>
> Best regards,
> Gilles
>
>>
>> Regards,
>> Matt
>>
>>
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>
>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>
>>
>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
>> development by creating an account on GitHub.
>> github.com
>>
>>
>>
>>
>> ________________________________
>> From: Gilles <gi...@harfang.homelinux.org>
>> Sent: Friday, November 30, 2018 9:37 AM
>> To: dev@commons.apache.org
>> Subject: Re: [numbers] Making Quaternion a VALJO
>>
>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>> > and I have also emailed an ICLA.
>>>
>>>> Not received/acknowledged yet.
>>>
>>> I am now listed on the "Persons with signed CLAs but who are not
>>> (yet)
>>> committers." page.
>>
>> Welcome!
>>
>>>> > I think two convenience divide methods performing qr^{-1} and
>>>> r^{-1}q
>>>> > for q
>>>> > and r would be useful, but I couldn't think of nice names for
>>>> them.
>>>
>>>> What are the use-cases?
>>>> Why aren't "multiply" and "inverse" enough?
>>>
>>> I must admit I'm new to quaternions and stumbled into the project
>>> while
>>> trying to improve my understanding so I'm not going to claim great
>>> knowledge of how common these operations are. I was primarily
>>> thinking of
>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that you
>>> end up
>>> creating inverse instances and throwing them away a lot and I
>>> thought
>>> it
>>> would be good to reduce that overhead.
>>
>> Surely, the class "Quaternion" is minimal but, before adding to
>> the API, we be careful to have use-cases for low-level operations.
>> Those mentioned above seems more high-level, tied to a specific
>> domain (see also "Commons Geometry", another new component not yet
>> released) but I may be wrong...
>>
>> Regards,
>> Gilles
>>
>>>
>>> Steve
>>
>
---------------------------------------------------------------------
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For additional commands, e-mail: dev-help@commons.apache.org
Re: [Numbers][Geometry] Where to define "quaternion" (Was: Making
Quaternion a VALJO)
Posted by Gilles <gi...@harfang.homelinux.org>.
On Sat, 01 Dec 2018 12:56:34 +0100, Gilles wrote:
> Hello.
>
> On Sat, 1 Dec 2018 06:05:31 +0000, Matt Juntunen wrote:
>> Hi guys,
>>
>> FYI, I've been working on a quaternion-related class named
>> QuaternionRotation for commons-geometry (see link below). It
>> includes
>> slerp as well as several other geometry-oriented methods, such as
>> conversion to/from axis-angle representations and creation from
>> basis
>> rotations. It's not quite ready for a merge yet since I still need
>> to
>> finish the Euler angle conversions.
>>
>> I did not use the Quaternion class from commons-numbers since I
>> wanted to focus solely on using quaternions to represent 3D
>> rotations.
>> I felt like the commons-numbers class was too general for this.
>
> We need to explore further how to avoid duplication.
>
> Some questions:
> * Should "QuaternionRotation" inherit from "Quaternion"?
> * Should "Quaternion" be defined in [Geometry] (and removed from
> [Numbers])?
> * Are some utilities defined in "QuaternionRotation" general
> such that they could be part of the [Numbers] "Quaternion" API.
> An example might be the transformation between quaternion and
> matrix (represented as a double[3][3])?
>
> The second consideration could apply to any computation that does
> not require types defined in [Geometry]. For example, interpolation
> is a purely quaternion-internal operation.
s/second/third/
>
> It looks to me that it should be possible to come up with a design
> that defines "rotation" in [Geometry] which uses a "quaternion"
> defined in [Numbers].
> Otherwise, one would wonder why "Complex" is also not in [Geometry]
> (for 2D rotations).
>
> Best regards,
> Gilles
>
>>
>> Regards,
>> Matt
>>
>>
>>
>> https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java
>>
>> [https://avatars1.githubusercontent.com/u/3809623?s=400&v=4]<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>>
>>
>> darkma773r/commons-geometry<https://github.com/darkma773r/commons-geometry/blob/transforms/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/QuaternionRotation.java>
>> Apache Commons Geometry. Contribute to darkma773r/commons-geometry
>> development by creating an account on GitHub.
>> github.com
>>
>>
>>
>>
>> ________________________________
>> From: Gilles <gi...@harfang.homelinux.org>
>> Sent: Friday, November 30, 2018 9:37 AM
>> To: dev@commons.apache.org
>> Subject: Re: [numbers] Making Quaternion a VALJO
>>
>> On Fri, 30 Nov 2018 14:22:45 +0000, Steve Bosman wrote:
>>>> > and I have also emailed an ICLA.
>>>
>>>> Not received/acknowledged yet.
>>>
>>> I am now listed on the "Persons with signed CLAs but who are not
>>> (yet)
>>> committers." page.
>>
>> Welcome!
>>
>>>> > I think two convenience divide methods performing qr^{-1} and
>>>> r^{-1}q
>>>> > for q
>>>> > and r would be useful, but I couldn't think of nice names for
>>>> them.
>>>
>>>> What are the use-cases?
>>>> Why aren't "multiply" and "inverse" enough?
>>>
>>> I must admit I'm new to quaternions and stumbled into the project
>>> while
>>> trying to improve my understanding so I'm not going to claim great
>>> knowledge of how common these operations are. I was primarily
>>> thinking of
>>> Quaternion Interpolation - SLERP and SQUAD. It seems to me that you
>>> end up
>>> creating inverse instances and throwing them away a lot and I
>>> thought
>>> it
>>> would be good to reduce that overhead.
>>
>> Surely, the class "Quaternion" is minimal but, before adding to
>> the API, we be careful to have use-cases for low-level operations.
>> Those mentioned above seems more high-level, tied to a specific
>> domain (see also "Commons Geometry", another new component not yet
>> released) but I may be wrong...
>>
>> Regards,
>> Gilles
>>
>>>
>>> Steve
>>
>
---------------------------------------------------------------------
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